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<li class="navelem"><a class="el" href="classDepthTools.html">DepthTools</a></li><li class="navelem"><a class="el" href="structDepthTools_1_1Camera.html">Camera</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p>Represents basic intrinsic parameters used to project pixels into a point cloud.  
 <a href="structDepthTools_1_1Camera.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="depth__tools_8h_source.html">depth_tools.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a34b8f5bf9592942336b758dba2a975d5"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#a34b8f5bf9592942336b758dba2a975d5">projectZ</a> (unsigned short depth, float factor=1000.f) const </td></tr>
<tr class="memdesc:a34b8f5bf9592942336b758dba2a975d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the z coordinate of the projected point given the depth as depth/factor.  <a href="#a34b8f5bf9592942336b758dba2a975d5">More...</a><br /></td></tr>
<tr class="separator:a34b8f5bf9592942336b758dba2a975d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc6000905bf3ba8e79ea6fcfe6fd2c02"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:adc6000905bf3ba8e79ea6fcfe6fd2c02"><td class="memTemplItemLeft" align="right" valign="top">float&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#adc6000905bf3ba8e79ea6fcfe6fd2c02">projectX</a> (T x, unsigned short depth, float factor=1000.f) const </td></tr>
<tr class="memdesc:adc6000905bf3ba8e79ea6fcfe6fd2c02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the depth by depth/factor, project the x coordinate into 3D room.  <a href="#adc6000905bf3ba8e79ea6fcfe6fd2c02">More...</a><br /></td></tr>
<tr class="separator:adc6000905bf3ba8e79ea6fcfe6fd2c02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5126a2aac351482c1545e014f33baf6"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
<tr class="memitem:af5126a2aac351482c1545e014f33baf6"><td class="memTemplItemLeft" align="right" valign="top">float&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#af5126a2aac351482c1545e014f33baf6">projectY</a> (T y, unsigned short depth, float factor=1000.f) const </td></tr>
<tr class="memdesc:af5126a2aac351482c1545e014f33baf6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the depth by depth/factor, project the y coordinate into 3D room.  <a href="#af5126a2aac351482c1545e014f33baf6">More...</a><br /></td></tr>
<tr class="separator:af5126a2aac351482c1545e014f33baf6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac077b9fe4972ac558c4506193d9f117b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#ac077b9fe4972ac558c4506193d9f117b">backprojectX</a> (float x, float depth, float factor=1000.f) const </td></tr>
<tr class="memdesc:ac077b9fe4972ac558c4506193d9f117b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the depth by depth/factor, back project the x coordinate to image plain.  <a href="#ac077b9fe4972ac558c4506193d9f117b">More...</a><br /></td></tr>
<tr class="separator:ac077b9fe4972ac558c4506193d9f117b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2aeff5c4a0ec9b294600e6f144dcb3c9"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#a2aeff5c4a0ec9b294600e6f144dcb3c9">backprojectY</a> (float y, float depth, float factor=1000.f) const </td></tr>
<tr class="memdesc:a2aeff5c4a0ec9b294600e6f144dcb3c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given the depth by depth/factor, back project the y coordinate to image plain.  <a href="#a2aeff5c4a0ec9b294600e6f144dcb3c9">More...</a><br /></td></tr>
<tr class="separator:a2aeff5c4a0ec9b294600e6f144dcb3c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:ac16b93a85e37c55024ef394eaf75391f"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#ac16b93a85e37c55024ef394eaf75391f">cropping_x</a></td></tr>
<tr class="memdesc:ac16b93a85e37c55024ef394eaf75391f"><td class="mdescLeft">&#160;</td><td class="mdescRight">If the image was cropped in x dimension by a specific number of pixels.  <a href="#ac16b93a85e37c55024ef394eaf75391f">More...</a><br /></td></tr>
<tr class="separator:ac16b93a85e37c55024ef394eaf75391f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec87be561dad1ae254c8792ddf91731f"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#aec87be561dad1ae254c8792ddf91731f">cropping_y</a></td></tr>
<tr class="memdesc:aec87be561dad1ae254c8792ddf91731f"><td class="mdescLeft">&#160;</td><td class="mdescRight">If the images was cropped in y dimension by a specific number of pixels.  <a href="#aec87be561dad1ae254c8792ddf91731f">More...</a><br /></td></tr>
<tr class="separator:aec87be561dad1ae254c8792ddf91731f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae92153e30078cf854dcc1fb18295a59e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#ae92153e30078cf854dcc1fb18295a59e">principal_x</a></td></tr>
<tr class="memdesc:ae92153e30078cf854dcc1fb18295a59e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Principal point x coordinate.  <a href="#ae92153e30078cf854dcc1fb18295a59e">More...</a><br /></td></tr>
<tr class="separator:ae92153e30078cf854dcc1fb18295a59e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adab192877142048d2ef887cb2a7f2e51"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#adab192877142048d2ef887cb2a7f2e51">principal_y</a></td></tr>
<tr class="memdesc:adab192877142048d2ef887cb2a7f2e51"><td class="mdescLeft">&#160;</td><td class="mdescRight">Principal point y coordinate.  <a href="#adab192877142048d2ef887cb2a7f2e51">More...</a><br /></td></tr>
<tr class="separator:adab192877142048d2ef887cb2a7f2e51"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a071885bfabfbfd5fa95108d6426c2d8e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#a071885bfabfbfd5fa95108d6426c2d8e">focal_x</a></td></tr>
<tr class="memdesc:a071885bfabfbfd5fa95108d6426c2d8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Focal length in x.  <a href="#a071885bfabfbfd5fa95108d6426c2d8e">More...</a><br /></td></tr>
<tr class="separator:a071885bfabfbfd5fa95108d6426c2d8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adde5a323c881acc956535dffe0a491a7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structDepthTools_1_1Camera.html#adde5a323c881acc956535dffe0a491a7">focal_y</a></td></tr>
<tr class="memdesc:adde5a323c881acc956535dffe0a491a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Focal length in y.  <a href="#adde5a323c881acc956535dffe0a491a7">More...</a><br /></td></tr>
<tr class="separator:adde5a323c881acc956535dffe0a491a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Represents basic intrinsic parameters used to project pixels into a point cloud. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="ac077b9fe4972ac558c4506193d9f117b"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int DepthTools::Camera::backprojectX </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>factor</em> = <code>1000.f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Given the depth by depth/factor, back project the x coordinate to image plain. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>x coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>depth coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">factor</td><td>factor to multiply depth by </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>x coordinate </dd></dl>

</div>
</div>
<a class="anchor" id="a2aeff5c4a0ec9b294600e6f144dcb3c9"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int DepthTools::Camera::backprojectY </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>factor</em> = <code>1000.f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Given the depth by depth/factor, back project the y coordinate to image plain. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>y coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>depth coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">factor</td><td>factor to multiply depth with </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>y coordinate </dd></dl>

</div>
</div>
<a class="anchor" id="adc6000905bf3ba8e79ea6fcfe6fd2c02"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">template float DepthTools::Camera::projectX&lt; float &gt; </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>x</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned short&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>factor</em> = <code>1000.f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Given the depth by depth/factor, project the x coordinate into 3D room. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">x</td><td>x coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>depth as unsigned short </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">factor</td><td>factor to divide depth by </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>x coordinate </dd></dl>

</div>
</div>
<a class="anchor" id="af5126a2aac351482c1545e014f33baf6"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">template float DepthTools::Camera::projectY&lt; float &gt; </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>y</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned short&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>factor</em> = <code>1000.f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Given the depth by depth/factor, project the y coordinate into 3D room. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">y</td><td>y coordinate </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>depth as unsigned short </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">factor</td><td>factor to divide depth by </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>y coordinate </dd></dl>

</div>
</div>
<a class="anchor" id="a34b8f5bf9592942336b758dba2a975d5"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float DepthTools::Camera::projectZ </td>
          <td>(</td>
          <td class="paramtype">unsigned short&#160;</td>
          <td class="paramname"><em>depth</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>factor</em> = <code>1000.f</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Get the z coordinate of the projected point given the depth as depth/factor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">depth</td><td>depth as unsigned short </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">factor</td><td>factor to divide depth by </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>z coordinate</dd></dl>
<p>Copyright (c) 2016, David Stutz Contact: <a href="#" onclick="location.href='mai'+'lto:'+'dav'+'id'+'.st'+'ut'+'z@r'+'wt'+'h-a'+'ac'+'hen'+'.d'+'e'; return false;">david<span style="display: none;">.nosp@m.</span>.stu<span style="display: none;">.nosp@m.</span>tz@rw<span style="display: none;">.nosp@m.</span>th-a<span style="display: none;">.nosp@m.</span>achen<span style="display: none;">.nosp@m.</span>.de</a>, davidstutz.de All rights reserved.</p>
<p>Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:</p>
<ol type="1">
<li>Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.</li>
<li>Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.</li>
<li>Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.</li>
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<p>THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. </p>

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<h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="ac16b93a85e37c55024ef394eaf75391f"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float DepthTools::Camera::cropping_x</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>If the image was cropped in x dimension by a specific number of pixels. </p>

</div>
</div>
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          <td class="memname">float DepthTools::Camera::cropping_y</td>
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<p>If the images was cropped in y dimension by a specific number of pixels. </p>

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          <td class="memname">float DepthTools::Camera::focal_x</td>
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<p>Focal length in x. </p>

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<p>Focal length in y. </p>

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<p>Principal point x coordinate. </p>

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<p>Principal point y coordinate. </p>

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<hr/>The documentation for this struct was generated from the following files:<ul>
<li>lib_eval/<a class="el" href="depth__tools_8h_source.html">depth_tools.h</a></li>
<li>lib_eval/<a class="el" href="depth__tools_8cpp.html">depth_tools.cpp</a></li>
</ul>
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